EP3141922B1 - Dispositif et procede de positionnement ameliore - Google Patents

Dispositif et procede de positionnement ameliore Download PDF

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Publication number
EP3141922B1
EP3141922B1 EP15184942.9A EP15184942A EP3141922B1 EP 3141922 B1 EP3141922 B1 EP 3141922B1 EP 15184942 A EP15184942 A EP 15184942A EP 3141922 B1 EP3141922 B1 EP 3141922B1
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EP
European Patent Office
Prior art keywords
time
mobile communication
point
communication device
position information
Prior art date
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EP15184942.9A
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German (de)
English (en)
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EP3141922A1 (fr
Inventor
Michael Witych
Dietmar Müller
Thomas Welzel
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Deutsche Telekom AG
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Deutsche Telekom AG
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Priority to EP15184942.9A priority Critical patent/EP3141922B1/fr
Priority to ES15184942T priority patent/ES2811900T3/es
Publication of EP3141922A1 publication Critical patent/EP3141922A1/fr
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/0205—Details
    • G01S5/0244—Accuracy or reliability of position solution or of measurements contributing thereto
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/0284—Relative positioning
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/396—Determining accuracy or reliability of position or pseudorange measurements
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/0009—Transmission of position information to remote stations
    • G01S5/009—Transmission of differential positioning data to mobile

Definitions

  • the invention relates to a method for improved determination of the position of a movable communication device using a position determination system and devices designed to carry out the method.
  • GNSS Global Navigation Satellite System
  • GPS Global Positioning System
  • Integrity information includes, for example, information about the trustworthiness of the observation information provided in the past for position calculation and / or the calculated position information and / or information about the reliability and correct operation of the navigation system used.
  • a well-known navigation supplement system is for example an SBAS (Satellite Based Augmentation System).
  • SBAS Stelite Based Augmentation System
  • Such satellite-based supplementary systems are known in Europe under the name EGNOS (European Geostationary Navigation Overlay Satellite System (or Service)) and in the United States under the name WAAS (Wide Area Augmentation System).
  • Such navigation supplement systems obtain the correction data for improving the position determination and the integrity information, for example by means of suitably distributed fixed ground stations with known positions and continuous determination of these positions by evaluating the signals of the GNSS satellites, as is the case with the European EGNOS system.
  • the fixed actual position of the ground station is determined once with high accuracy and in each case compared with the positions determined continuously by means of the navigation system in order to obtain the correction data and integrity information.
  • the correction data and integrity information can be transmitted in different ways, for example by means of the Internet and mobile radio or, for example, alternatively only by satellite signals.
  • the correction signals are also transmitted by the geostationary EGNOS satellites, for example, and can be received in a mobile phone with a suitable receiving antenna.
  • the correction signals are sent on L1, for example, one of the frequencies used by GPS.
  • Such correction values and integrity values are determined first and then to the user, for example, either via transmit the Internet in combination with mobile radio or by means of a satellite signal on frequency L1, for example, to a suitable mobile phone with, for example, GPS and EGNOS chip and software. Due to the period of determination for calculating the correction values and the delivery time, the received correction values are subject to a system-related time delay. With an EGNOS system, the time delay is about 6 seconds. In other words, correction values to which a validity time ta has been assigned in the supplementary system are only available to a GPS receiver, for example a mobile communication device, at a later reception time tb.
  • an improvement or correction of the position accuracy of a GPS receiver can be calculated taking into account the additional position information obtained at time tb and valid for time ta, only at time ta, that is, only for values in the past.
  • the position accuracy of a GPS receiver can only be improved due to the SBAS correction values for position information determined in the past.
  • EP 2 921 880 A1 For example, a method for the improved determination of the current position of a mobile communication device in real time is described, wherein depending on additional position information provided by a navigation supplementary system and assigned to a time (ta n), position information determined at the time (ta n) and between the At times (ta n) and a later point in time (tb n), movement data acquired essentially at the point in time (tb n), the current position of the movable communication device is determined to be valid for the current point in time (tb n) improved in real time, the additional position information being determined by navigation Supplementary system can be determined by means of suitably distributed fixed ground stations with known positions.
  • pseudolites are a transmitter located on the ground, which emits signals that mimic the signals of a satellite, so that the GPS receiver receives signals received from a pseudolite evaluates as if they were received by a satellite.
  • the use of pseudolites is associated with high costs, is complex and, moreover, is problematic due to the use of frequencies reserved for satellites.
  • WLAN-based positioning systems are also known, with WLAN (Wireless Local Area Network) designating a local radio network, in particular based on the IEEE 802.11 standard, in which frequencies in the 2.4 GHz band are mainly used for signal transmission.
  • the position determination within a WLAN network is typically carried out using lateration, similar to a GPS position determination system, in which case the distance to access points of the WLAN, hereinafter also referred to as access point or AP, is determined by a WLAN-capable terminal .
  • the position of the respective access points must be known and signals from at least three access points must be able to be received by the respective end device if a three-dimensional position is to be determined.
  • the accuracy of positioning can be increased by taking advantage of overdetermination if signals are received from more than three access points. This process is therefore also known as trilateration or multilateration.
  • the distance to an access point is typically estimated by the WLAN-capable terminal using the signal strength or by means of signal propagation times of a signal received by the access point.
  • the received signal strength is also called RSS (Received Signal Strength) denotes and decreases under normal circumstances with increasing distance to the access point.
  • RSSI value Receiveived Signal Strength Indicator
  • beacons typically sent by the access point are evaluated by the terminal, the transmission power of a beacon being known at the receiving end or information relating to this being also sent in the beacon, so that a measure of the weakening of the signal is determined from the received signal strength can be, which in turn is a measure of the distance.
  • the evaluation of beacons enables the received signal strength to be determined without connecting to the WLAN network.
  • access points send beacons with the lowest adjustable transmission power at cyclic intervals to ensure that when a beacon is received by a terminal, a stable connection can also be established with it.
  • the position information of the access points required for determining the position of the terminal can be stored, for example, in a database or look-up table which the terminal can access, or can be stored directly in a memory of the terminal.
  • the devices used as access points are often not permanently installed, which results in the problem that when one or more access points change position, the stored position information no longer indicates the actual position, which in turn leads to an incorrect position determination by the terminal device.
  • WO 2014/180845 A1 A method for improving position information is known, in which each of a plurality of smartphones sends position information, which contains the position coordinates, their accuracy, the time of validity and an identification of the respective smartphone, to a server, the server carrying out a network adjustment.
  • the result of the network adjustment is again the position coordinates of the smartphones and the accuracy of these position coordinates. If a comparison shows that the position coordinates determined by means of network adjustment and their accuracy are improved, these position coordinates and their accuracy are transmitted to the corresponding smartphone and can be adopted there.
  • the invention has for its object to show a way how the determination of the position of a movable communication device can be improved using a position determination system, in particular also for a position determination within buildings.
  • a core idea of the invention can be seen in providing additional position information for a position determination system based, for example, on GPS or WLAN, in the form of integrity information and / or correction data, the additional position information being determined as a function of position-related information provided by mobile, that is to say mobile, communication devices whose position is not known in advance.
  • a further core idea of the invention can be seen in transmitting the additional position information provided, which is valid for a point in time ta n , to a mobile, that is to say movable, communication device, this additional position information being available to the movable communication device only at a later point in time tb n and in the mobile communication device position information and / or movement data and / or motion models for changes in motion at least ta from time n to time tb n provide, which are also valid for these supply instants, so that the mobile communication device is able substantially to Time tb n their current position in Depending n has moved from the time ta n position information provided from the time tb n received location-sensitive information and / or be provided that the mobile communications device between the times ta n and tb, between times ta n and t b n calculated motion related by Determine information and / or movement models for movement changes in real time improved.
  • the movable communication devices which provide the position-related information used to determine the additional position information
  • the movable communication devices which use the additional position information for improved determination of position determination
  • Fig. 1 shows a mobile, ie mobile communication device 30, which can be, for example, a smartphone, a notebook, a communication device installed in a vehicle or the like. For the sake of simplicity, only one mobile communication device 30 is shown. However, a plurality of movable communication devices 30 are used to carry out a method according to the invention.
  • the movable communication device 30 has a first receiving device 34, which is designed to receive signals from a navigation system 40, about position information describing its position or this position to be able to determine. If the navigation system 40 is, for example, a GPS system, the first receiving device 34 contains a GPS chip and an antenna. The first receiving device 34 thus functions as a GPS receiver. Furthermore, the movable communication device 30 in the exemplary embodiment shown has a WLAN radio interface 37 for wireless communication with access points 50 and is designed for WLAN-based position determination.
  • access point 50 For the sake of simplicity, only one access point 50 is shown, but for WLAN-based position determination there are typically a plurality of access points 50, at least three, within the communication range of the mobile communication device 30, it being possible for these access points 50 to be assigned to the same or different WLANS .
  • the mobile communication device 30 in the illustrated embodiment has a receiving device 35 which is designed to receive the additional position information provided and transmitted by a navigation supplement system 22.
  • the position of supplementary information preferably contain to a certain first times ta n associated correction data and optionally the accuracy and optionally integrity information that can be used for improved position determination.
  • the receiving device 35 can have an EGNOS chip and an antenna.
  • the GPS chip and the EGNOS chip can also be used as an integrated chip are available.
  • the EGNOS data can not only be received by a direct satellite signal, but can also be obtained, for example, via the Internet 700, to which the mobile communication device 30 can access via a WLAN using a WLAN access point 50 or via a mobile radio network 600.
  • the mobile communication device 30 has a corresponding radio network communication interface 39 for connection to the mobile radio network 600.
  • the invention proposes an alternative way of providing additional position information.
  • an evaluation device 20 is provided, which receives position-related information from first movable communication devices 30, the position-related information being assigned to a first point in time ta n .
  • the evaluation device 20 uses a compensation calculation to determine additional position information associated with the first point in time ta n and makes it available to a further movable communication device 30 that is different from the first movable communication devices.
  • the evaluation device 20 provides the first. Additional position information associated with time ta n is alternatively available to one of the movable communication devices 30, from which the evaluation device 20 has received position-related information.
  • the position-related information which are determined by a mobile communication device 30 and transmitted to the evaluation device 20 may include position determining suitable raw data, such as those suitable for position determination by means of GPS from the GPS satellites for the first time ta n received information, or for the WLAN -based position determining appropriate, of WLAN access points to the first point in time ta n received signals, in particular the respective received signal strength and an identification within reach befindaji access points.
  • the position-related information can include position information determined by the mobile communication device 30 from these raw data and, if appropriate, an associated accuracy.
  • the position-related information can also include information relating to the distance of the movable communication device 30 from at least one further movable communication device 30 or information suitable for determining this distance.
  • the distance to a further mobile communication device 30 can for example, depending on a received signal strength, for which purpose the two mobile communication devices involved can communicate directly with one another.
  • a mobile communication device 30 cyclically transmits signals that are monitored by other mobile communication devices 30 within range and are used for determining the distance, this being signals that can be received by the WLAN radio interface, or else signals of a different type, such as, for example, Bluetooth - or infrared signals.
  • the mobile communication devices 30 listen to the communication of other mobile communication devices 30 with access points 50 and determine a distance depending on the received signal strength from the signals transmitted by the respective mobile communication device 30.
  • a movable communication device 30 can also advantageously be designed to receive signals from a fixed, short-range transmission device, such as a device with an RFID chip, which is designed for near field communication (NFC).
  • a fixed, short-range transmission device such as a device with an RFID chip, which is designed for near field communication (NFC).
  • NFC near field communication
  • the in Fig. 1 shown embodiment of a movable communication device 30 an NFC interface 45.
  • the position of the RFID chip is determined beforehand with high accuracy and this position information is preferably stored in the RFID chip and transmitted in the signals sent by the latter.
  • the position-related information particularly advantageously includes that assigned to the RFID chip Position information, the portable communication device 30 provided for the first time ta n within range of the RFID chip is located.
  • the mobile communication device 30 has a movement detection device 33 for detecting a movement of the movable communication device 30, the movement being detected at least in sections between a first point in time ta n and a second, later point in time tb n .
  • the detection means 33 may motion-related information, which movement data includes generating, by which, for example, a three-dimensional vector can be calculated, the direction z n the change in position of the mobile communication device 30 in x-, y- and / or from a first time point ta to reproduces a second time tb n .
  • the detection device 33 can have, for example, a single motion sensor, for example an acceleration sensor, or the like.
  • the movement detection device 33 can also have a plurality of sensors in order to detect the movements and / or movement information of the mobile communication device 30 more precisely and to be able to calculate the change in position therefrom.
  • the detection device 33 can be designed to carry out further processing steps based on movement models and / or models for movement changes between two times ta n and tb n , in order to appropriately bridge gaps in the detection of movement-related information. These further processing steps can, however, also be carried out in a control unit 38, the corresponding instructions, for example, in one Program memory 32 are stored and can be loaded from this. Additional information, such as position information that is only provided by the GPS receiver 34 or determined based on WLAN, can be taken into account as motion-related information and is valid in a processing interval from ta n to tb n .
  • the motion detection device 33 can be used particularly advantageously for the high-precision position information of an NFC device with an RFID chip, even when removed from the NFC device, for a certain time, typically at least several seconds, for likewise highly precise determination of successor positions outside the range of the To use NFC device, which in turn can be contained in the position-related information transmitted to the evaluation device 20.
  • the evaluation device 20 which in principle has the function of a position supplement system, can be designed, for example, as an Internet server which is connected to the Internet, the position-related information, as exemplified in Fig. 1 shown, can be transmitted from the respective mobile communication device 30 to the evaluation device 20 via the Internet.
  • the position-related information can also be transmitted to the evaluation device 20, for example, via the mobile radio network 600 or any other suitable communication connection.
  • the evaluation device 20 can also be located locally in a WLAN, for example be arranged so that communication via the Internet is not required.
  • a mobile communication device 30 equipped with a motion detection device 33 can also be enabled to determine its current position in real time for a validity time tb n with improved accuracy.
  • the control device 38 implemented in the mobile communication device 30 is designed, for example, as a microprocessor.
  • the control device 38 can preferably be designed to determine, in real time, that is to say essentially at a second point in time tb n , an improved current position information which is valid for the second point in time tb n .
  • position information valid for the first time ta n is dependent on the position information assigned to the first time ta n , which is provided by the GPS receiver or determined on the basis of WLAN, and that assigned to the first time ta n Additional position information, which has been made available by the evaluation device 20, is redetermined or corrected.
  • the controller 38 is further configured to, in real-time is now a function of the TA for the time n valid, corrected position information and from the motion sensor 33 between the times ta n and t b n motion related information provided TB for the time n valid, improved determine current position information in real time.
  • the Movement-related information is valid for the period ta n to tb n .
  • the movement-related information can additionally or alternative position information, which are provided by the GPS receiver 34 or determined based on WLAN between the times ta n and tb n , and / or contain movement information obtained from movement models for movements and / or from movement models for movement change are obtained, and / or from a sensor, for example from the motion sensor 33, for measuring motion.
  • control device 38 Instructions for the control device 38 are stored in order to be able to control and monitor the operation and all functions of the mobile communication device 30, which is, for example, a smartphone.
  • a data memory 31 can be provided, in which the position information determined by the GPS chip 34 or WLAN-based, that is position coordinates and possibly their accuracy, the received additional position information and the movement data or movement-related information supplied by the movement sensor 33, the results of previous calculations as well as the associated determination times, also for the past. Furthermore, all position information currently determined in real time by the mobile communication device 30 or the microprocessor 38 and the associated observation times, in particular movement-related information, can be stored in the data memory 31. To the movement-related information and the To be able to assign position information to a determination or observation time, a timer 36 can be implemented in the mobile communication device 30. The timer 36 can advantageously be synchronized with the GPS system 40.
  • control device 38 with the timer 36, the program memory 32, the data memory 31, the motion sensor 33, the WLAN radio interface 37, the radio network communication interface 39, the NFC interface 45, the GPS receiver 34 and the EGNOS receiver 35 connected to perform all functions according to the invention.
  • the evaluation device 20 has a communication connection with the EGNOS system 22 in order to compare the additional position information determined by the evaluation device 20 with the determination determined by the EGNOS system and in this way to obtain any further improved position information .
  • this is only advantageous when using a GNSS system for position determination.
  • the evaluation device 20 offers the possibility for the first time of providing additional position information in a particularly advantageous manner.
  • the data stored in the data memory 31 can be stored in a structured manner in a special way. Movement data, additional position data and Position information that is assigned to a specific processing interval is stored together and / or stored in such a way that any processing interval can be accessed quickly.
  • An nth machining interval is defined by a first point in time ta n and a second, later point in time tb n .
  • a first point in time ta n sets conveniently determine the date for which a valid position provided n additional information by the evaluation device 20 for ta transferred to the mobile communication device 30 and the mobile communications device 30 at the time tb n is available.
  • position information from the GPS receiver 34 or WLAN-based can be provided, which is valid at a first point in time ta n and is provided in the communication device 30 at the same point in time ta n .
  • a second, later point in time tb n essentially defines the point in time at which the current position of the mobile communication device 30 is to be calculated in real time.
  • the respective time pairs ta n and tb n define an n-th processing interval in which movement-related information is recorded.
  • the time difference between each time pair ta n and tb n essentially corresponds to the time offset of the actuality of the additional position information of the evaluation device 20, at which this can be used in the mobile communication device 30.
  • the time difference (tb n -ta n ) can be, for example, a few seconds.
  • FIG. 2 An exemplary WLAN-based positioning system 11 is shown, which is used to determine the position of mobile communication devices 30 1 to 30 7 within a building.
  • three access points 50 1 , 50 2 and 50 3 are arranged at different positions in the exemplary embodiment shown, these positions being determined once with high accuracy and being stored in a look-up table with associated identification information of the respective access point.
  • a larger number of access points can also be provided.
  • the communication devices 30 1 to 30 7 have access to this look-up table, which can be stored in a database.
  • each of the communication devices 30 1 to 30 7 can establish a connection to the Internet via one of the access points.
  • each of the mobile communication devices 30 1 to 30 7 receives cyclic beacon signals from all access points within range and determines position information as a function of the received signal strengths, which are a measure of the distance to the respective access point, and the associated accuracy. Furthermore, the mobile communication devices 30 1 to 30 7 each determine the distance from one another in pairs. Each of the communication devices 30 1 to 30 7 sends this position-related information to an in Fig. 2 Evaluation device 20, not shown, which, from this position-related information, utilizes the over-determination of additional position information. In particular The evaluation device 20 reveals if the actual position of an access point does not match the position stored for this access point, since its position has been significantly changed, for example, by a cleaner. The evaluation device 20 in turn makes this additional position information available to the mobile communication devices 30 1 to 30 7 and enables them to redetermine the position with greater accuracy for the point in time at which the position-related information was obtained.
  • a stationary NFC device 200 with an integrated RFID chip can also be provided, which can transmit highly accurate position information to a mobile communication device in range, which can then forward this to the evaluation device 20 as position-related information.
  • the mobile communication device 30 4 can also use this highly accurate position information of the NFC device 200 for more precise position determination after it has left the range of the NFC device 200 again.
  • a mobile communication device 30 7 can be used, the degrees of freedom of movement of which are restricted in a predetermined manner, this being used as parameterization in the compensation calculation which the evaluation device 20 carries out, the accuracy being able to be increased by the boundary parameters.
  • the mobile Communication device 30 7 is automatically guided back and forth on a rail 100, indicated by arrow 101.
  • the movement sequence is predetermined and is known to the evaluation device 20. It would also be conceivable to provide NFC devices such as device 200 at the end points of the rail 100.
  • Fig. 3 shows an example of a WLAN-based positioning system 12, in which six access points 50 4 to 50 9 are provided. It is assumed that the mobile communication devices 30 8 and 30 9 only carry out a position determination based on WLAN as a function of route measurements to the access points 50 4 to 50 9 carried out by means of RSS, the respective position determination of the communication devices 30 8 and 30 9 in X -Direction based solely on the RSS-based route measurements to the respective accessible access points either has no overdetermination or only offers such poor control that incorrect measurements in the X direction and in particular incorrectly stored coordinates of the access points in the X direction in the compensation calculation by the Evaluation device 20 can not be uncovered.
  • the obstacles H1 and H2 do not allow an RSS-based route determination through the obstacles due to the damping properties.
  • An assigned distance Ri is shown for each of the access points, which is intended to indicate the maximum range of the respective access point up to which the signals transmitted by the respective access point are used for route determination by means of RSS.
  • a drawn R i distance gives For example, the maximum range specified in an evaluation logic of the respective receiving device, up to which an RSSI value determined from a signal received by an access point 50 i is still used for route determinations. In other words, a distance determined from an RSSI value, which is greater than the respective distance R i, is not used for determining the route due to an inaccuracy that is too high. In the in Fig.
  • An identical R i value delivers the same route determination accuracy at the same distance from the respective access point.
  • a larger R i value provides better distance determination accuracy at the same distance.
  • Due to the length of R 6 z. B. the mobile communication device 30 9 does not determine a route to the access point 50 6 .
  • an RSS-based route determination from a mobile communication device to an access point in the X direction is therefore more precise than in the Y direction.
  • the position of a mobile communication device is therefore determined on the basis of three route measurements in each case.
  • inaccuracy measures of the position determinations of the mobile communication devices can only be determined on the basis of a priori known error values of the calculation variables, the routes and positions of the access points if these a priori error values are present. But even if all of these a priori error values are present, these error values cannot be checked even due to the lack of over-determination. However, this also means that the errors in the position coordinates of the mobile communication devices derived from these error propagation methods cannot be controlled. Any error in an assumption, be it an absolute value of an input variable or its a priori error value, is therefore not detectable.
  • the two distance measurements in the Y direction are absolutely identical and the third distance is exactly vertical, then the Y coordinate has an overlap of one, but the X coordinate is determined without overdetermination, causing errors in the X -Coordinate neither for the mobile communication device nor for the access point of the route in the X direction and also not similar errors in the X coordinates of the two access points of the two route measurements in the Y direction or their derived error measurements can be detected.
  • the route measurements therefore do not provide any information regarding the integrity information and / or correction data to be determined by an evaluation device and provided by a navigation supplement system, for example for the coordinates of the access points.
  • a navigation supplement system for example for the coordinates of the access points.
  • the problem of position determination for the mobile communication devices 30 8 and 30 9 breaks down into two independent problems and as an example for the left subsystem, the measurements relating to the 30 8 can only be the correction values check or improve the coordinates of the access points 50 4 , 50 6 and 50 8 . In addition, the position determinations of the mobile communication devices 30 8 and 30 9 have no influence on the other device.
  • Errors in the measurements of the distance between the mobile communication device 30 8 and the AP 50 6 and between the mobile communication device 30, for example, can only be determined by determining the position of the mobile communication devices 30 8 and 30 9 from the RSS measurements for the three accessible access points 9 and the AP 50 7 or errors in the X coordinates of the APs 50 6 and 50 7 cannot be detected sufficiently well and therefore no additional position information such as an overshoot limit or explicit correction values for these X coordinates are calculated and transmitted to the mobile communication devices since the The present geometry does not make this possible, since all other measurements for this purpose run vertically in the Y direction and the control in the X direction is very low.
  • the correction values in the additional position information are thus the corrections of the X coordinates of the APs 50 6 and 50 7 known a priori, for example from a database.
  • the accuracies of the correction values from their last determination can also be stored in the database and can also be calculated in the network adjustment method and updated in the database.
  • the mobile communication device 30 8 additionally carries out a route measurement to the mobile communication device 30 9 , that is to say a relative measurement, independent of the coordinate system, between two movable communication devices during their different movements, since the direction this distance measurement lies in the X direction and thus controls the X coordinates.
  • this distance between the mobile communication devices 30 8 and 30 9 lies exactly in the X direction and thus controls the X coordinates of the mobile communication devices 30 8 and 30 9 and thus also the access points 50 6 and 50 7 , so that at the additional position information for these X coordinates can be determined.
  • the positions of the mobile communication devices need not be known exactly in advance.
  • FIG. 3 The illustrated example shows the distance measurement between the mobile communication devices 30 8 and 30 9, the distance measurements between the mobile communication device 30 8 and the AP 50 6 and between the mobile communication device 30 9 and the AP 50 7 and the X coordinates of the APs 50 6 and 50 7 controlled, so that a leap in accuracy in the determination of the additional position information is achieved, or actually only makes sense, since without the distance measurement between the mobile communication devices 30 8 and 30 9 are not sufficiently high accuracies possible. Without the distance measurement between the mobile communication devices 30 8 and 30 9 , additional position information can be determined in the present case even in the X direction for the APs 50 6 and 50 7 , ie correction values for their X coordinates, but not sufficiently accurate. It should also be said that the distance measurement between the mobile communication devices 30 8 and 30 9 also improves the Y coordinates of all access points and thus their correction values can also be improved in the evaluation system 20.
  • the example shown is an extreme case in which some additional position information can only be determined by measurements between the mobile communication devices. Such an extreme case will generally rarely occur in a real system.
  • This example makes it clear that the distance measurement between mobile communication devices and the provision of corresponding position-related information from the evaluation device 20 particularly support and improve the determination of additional position information, even if they have already been determined without these distance measurements between mobile communication devices and although none of them are highly precise beforehand Positions of the mobile communication devices must be known.
  • the respective error ellipse for the position can be calculated.
  • the target position of the movable communication device 30 at a time ta n is in Fig. 4 through the point A to (ta s) reproduced while the target position tb at a later time to n through the point B (TB n) is shown.
  • a line 90 between the two points describes, for example, the actual movement of the mobile communication device 30 between the times ta n and tb n .
  • this position was previously available as B ist (tb n ) or B0 (tb n ) or a weighted average of both values, where B ist (tb n ), for example, only with GPS data from the GPS receiver 34 or WLAN -based calculated position and B0 (tb n ) additively follows from A ist (ta n ) plus the motion calculation from ta n to tb n .
  • current position information B1 (tb n ) which is improved compared to point B ist (tb n ) or B0 (tb n ) or a point that is not shown on the basis of a weighting of both, is valid at the point in time tb n for receive the mobile communication device 30 in real time. If B ist (tb n ) has sufficient good accuracy compared to the other input values, B ist (tb n ) can also be used in the calculation of B1 (tb n ).
  • the result of an exemplary application of the algorithm to the input variables is preferably the correction data and their accuracy contained in the additional position information, preferably the position coordinates contained in the position information and their accuracy at the time ta n , and between the first time ta n and the second Time tb n specific movement-related information and its accuracy can be determined using the Fig. 4 be illustrated.
  • this position information can also be used to determine the current position information for the Time tb n in the Calculations are included. This position information is then included in the movement-related information.
  • the estimates for this are possible in advance using known methods and can be made in real time in the communication device 30.
  • Fig. 4 the position information determined between ta n and tb n was not taken into account.
  • a certain accuracy for the relative position changes due to a motion sensor was assumed, the extent of which in Fig. 4 is not explicitly marked, but can be derived from the resulting error ellipses of the calculations for E4 in terms of magnitude.
  • large position changes also cause larger absolute error components, which is due to the different main axis lengths of the resulting error ellipse E4 in Fig. 4 is recognizable.
  • a first improvement of the position determination can be achieved by taking into account the additional position information associated with the point in time ta n , the accuracy of the position of the movable communication device 30, which is shown in FIG Fig. 4 exemplified by the point A is (ta s) is shown, is increased, so that the improved position of the mobile communication device 30 to a point A1 (tb n). It is important to point out that the position determination of point A1 (tb n ) only takes place at time tb n , but point A1 (tb n ) only the improved position of the mobile communication device 30 is valid for the time ta n . The point of position A1 (tb n ) is therefore in the past.
  • a calculated error ellipse E3 is again drawn around the point A1 (tb n ) as an example.
  • the first improvement of the position determination relates to the position at the time ta n and, without knowledge of additional information that is valid after the time ta n, is also an improvement for a statement in which the position could be statistically valid for the time tb n , since this position has a probability relation to the most probable position at time ta n .
  • a second improvement in the position determination for the current point in time tb n can be achieved in that the movement-related information, which for example define a three-dimensional vector, describes the resulting change in position of the mobile communication device 30 in x- , y- and / or z-direction between a first point in time ta n and a second point in time tb n and possibly reproduce their accuracies, are added to the position coordinates of point A1 (tb n ). Then you get to a newly determined position, which in Fig. 4 is denoted by B1 (tb n ).
  • a line 70 which connects the point A1 (tb n ) with the point B1 (tb n ), describes, for example, the movement of the mobile communication device 30 detected by the movement sensor 33 between the times ta n and tb n .
  • the point B1 (tb n ) thus corresponds to the improved current position of the movable communication device 30, which was essentially calculated at and for the current time tb n Time is valid.
  • the error ellipse E4 drawn around point B1 exemplifies the calculated accuracy.
  • the arrow between the point B1 (tb n ) and a point B ist (tb n ), which corresponds to the position determined at time tb n without correction, indicates the improvement of the method compared to an uncorrected position determination.
  • all calculations can be carried out in one cast, that is to say in a single system of equations, to determine the current position of the mobile communication device 30 or a sequential calculation and / or recursive filter techniques can also be used.
  • a suitable mathematical model can be based on the statistical properties of the observations - this is preferably the position information, additional position information and movement-related information, wherein models which enable the detection of "outliers" in the observations are particularly expedient. The accuracy of all input variables can also be taken into account.
  • Various suitable mathematical models and different algorithmic implementations are known.
  • the position of the point A1 (tb n ), which was calculated at the time tb n but is valid for the time ta n can be determined in that the microprocessor 38 corresponds to the first time ta n assigned position information is determined only as a function of the additional position information assigned to the first point in time ta n .
  • Such a position determination A1 (tb n ) is, as a special case, the current position B1 (tb n ), that is, the position calculated in real time, which is valid at the current time tb n , when a test device of the mobile communication device 30 has determined that Either there is essentially no translatory movement of the mobile communication device 30 between the first point in time ta n and the second point in time tb n , or that all translatory movements in this period of time at the point in time tb n give the zero vector in a substantially significantly sufficient manner.
  • the control device 38 can perform the function of the test device.
  • the absolute position may not receive any change, but the accuracy of the position may even deteriorate considerably, which may cause the control device 38 to carry out the calculations even with a zero vector to better calculate the resulting accuracy.
  • a further point B0 (tb n ) with the positional accuracy error ellipse E5 is shown, which reproduces the position information, which was calculated at the second point in time tb n and is valid for this point in time, of the mobile communication device 30, without that for the point in time ta n valid additional position information is used.
  • This position can be determined in that the microprocessor 38 only redetermines the position information assigned to the first time ta n as a function of the movement-related information determined between the times ta n and tb n , ie without the additional position information assigned to the first time ta n .
  • Such a position determination is carried out, for example, when a test device of the mobile communication device 30 has determined that although no additional position information associated with the first point in time ta n has arrived in the movable communication device 30, the movable communication device 30 between the first point in time ta n and the second point However, time tb n has moved, as is indicated by line 60, and for example at time tb n no position information B is (tb n ) is supplied by GPS receiver 34 or can be determined based on WLAN. The function of the test device can in turn be carried out by the control device 38.
  • the position coordinates and possibly their accuracy can be determined with greater accuracy, for example the more precise the movement-related information determined by the motion sensor 33 is compared to the position information determined by the GPS receiver 34 or WLAN-based, which are corrected by the additional position information , and the less the recorded movement data is correlated with the position information.
  • the knowledge of this can be used by the control device 38 in order to suitably control the processes for determining the position information.
  • This simplified procedure can also be further improved by using the position determinations provided only by the GPS receiver 34 or WLAN-based between the time ta n up to and including tb n in an adjustment for determining the position information in real time. Estimation methods for this are known.
  • the accuracy of the respective position coordinates can also be determined by an error propagation of the errors of the input variables, that are, in particular, the additional position information and the position information at the point in time ta n and the movement data determined between the points in time ta n and tb n to which the corrected target variable is calculated.
  • the errors in the input variables are supplied by the determination methods and / or estimated in advance or, if possible, also determined in the estimation process, for example.
  • Fig. 4 is in Fig. 5 contain.
  • the points A2 (tb n ), A'2 (tb n-1 ), A “2 (tb n-2 ) and B2 (tb n ) are shown, the meaning of which is explained below.
  • position information valid for the respective first point in time ta n-2 was determined as a function of the position information associated with the first point in time ta n-2 , which was provided by the GPS receiver 34 or was determined based on WLAN, and one of those Additional position information associated with the respective first point in time ta n-2 was essentially redetermined at time tb n-2 in order to have received improved current position information essentially at point in time tb n-2 , valid for point in time ta n-2 .
  • Points A "2 (tb n-2 ) and A'2 (tb n-1 ) shown represent the improved position of the mobile communication device 30 with respect to the times ta n-1 and ta n-2 , respectively.
  • the calculations of these points A" 2 (tb n-2 ) and A'2 (tb n-1 ) can additionally, by using movement data and / or movement models for movement change and / or by further position information provided only by the GPS receiver 34 or WLAN-based determined, the before the point in time ta n-1 to the point in time ta n-2 or even earlier, can be improved, the associated data having been stored at the time of acquisition or calculation.
  • the control device 38 reads out the required data from the data memory 31 and, using a suitable algorithm of a mathematical model stored in the program memory 32, determines position information assigned to the first time ta n as a function of the position information assigned to the first time , which has been provided by the GPS receiver 34 or determined based on WLAN, and new from the additional position information associated with the first point in time ta n .
  • Receiver 34 provided or WLAN-based determined position information and the best possible improved position information at times ta n-1 and ta n-2 , essentially becomes one at time tb n relative to the point A (ta s) and its error ellipse E1 improved current position information B2 (tb n) tb with error ellipse E8 the mobile communication device 30 in real time for the time n is determined.
  • the result of an exemplary application of the algorithm to the input variables is preferably the correction data and their accuracy contained in the additional position information, preferably the position coordinates contained in the position information and their accuracy at the time ta n , and between the first time ta n and the second Time tb n determined movement data can be based on the Fig. 5 be illustrated.
  • point A2 (tb n ) with error ellipse E6 is also calculated at time tb n as an improvement of point A1 (tb n ) with error ellipse E3, both points being valid for time ta n .
  • the position A2 (tb n ) is only determined at the time tb n , but the point A2 (tb n ) only represents the improved position of the mobile communication device 30 at the time t n .
  • the point A2 (tb n ) is therefore in the past.
  • a calculated error ellipse is again drawn around the point A2 (tb n ) as an example. How out Fig. 5 can be seen, the method, which takes into account data from the past, a more accurate position A2 (tb n ) than that with regard to Fig. 4 deliver described method, which delivers the position A1 (tb n ).
  • the line 80 which connects the point A2 (tb n ) with the point B2 (tb n ), describes, by way of example, the relative movement of the mobile communication device 30 smoothed in the calculation method between the times ta n and tb n .
  • the arrow between the point B1 (tb n ) and the point B2 (tb n ) indicates the improvement of the method compared to the method which was previously based on the Fig. 4 was explained.
  • the improved position information of the point B2 (tb n ) can in turn be stored in the data memory 31 in order to be available for a later position determination to be carried out again.
  • additional position information that is valid for at least a later first point in time ta n + 1 is provided by the evaluation device 20 and that the additional position information is available to the movable communication device 30 essentially at a later second point in time tb n + 1 .
  • the GPS receiver 34 determines position information which defines the position of the movable communication device at the point in time ta n + 1 or this is determined on the basis of WLAN.
  • the movement sensor 33 detects the movement of the mobile communication device 30.
  • the associated movement data or movement-related information can be stored again in the data memory 31.
  • the position information and WLAN data obtained from movement models and provided only by the GPS receiver 34 between the times ta n + 1 and tb n + 1 can be used as further motion-related information is stored in the data memory 31.
  • the control device 38 reads out the required data from the data memory 31 and, using a suitable algorithm of a mathematical model stored in the program memory 32, determines a position information that is valid for the point in time ta n + 1, for example as a function of the the position information associated with the point in time ta n + 1 , which has been provided by the GPS receiver 34 or determined on the basis of WLAN, and from the additional position information associated with the first point in time ta n + 1 , and the movement data between the points in time ta n and ta n + 1 , and based on the position information newly determined for the point in time ta n + 1 and, for example, as a function of the movement-related information determined between the first point in time ta n + 1 and the second point in time tb n + 1 , and, if available, on the best possible improved position information at the times ta n-1 and ta n-2 and
  • This method can be repeated at later times tb n + k for the periods ta n + k to tb n + k on the data stored in the data memory 31, that is in particular already improved position information, additional position information and movement data and parameters for defining the movement models can be applied.
  • time used and the associated terms ta n and tb n are not to be understood as restrictive, that the above-described method can only be carried out at discrete times, as is only the simpler representation in FIGS Fig. 4 and 5 is shown.
  • the method or the algorithm can also be carried out continuously by the mobile communication device 30.
  • the improved position information can be continuously calculated in real time even in the event of interim periods with partial or complete data gaps, for example by using motion models for the communication device 30.
  • the prediction algorithms can be implemented in the movable communication device 30 or expediently in the evaluation device 20 and can be used to close data gaps.
  • the evaluation device 20 n at a time ta not only the first time ta n position associated additional information provides, but for example, three position-sensitive information predicts which are each assigned to a third point in time ta n + 1 , ta n + 2 or ta n + 3 .
  • the times ta n + 1 , ta n + 2 and ta n + 3 lie before a second time tb n, at which the current position of the mobile movement device 30 is to be determined in an improved manner.
  • Both the additional position information associated with the first point in time ta n and the three predicted additional position information are essentially generated by the evaluation device 20 at the point in time ta n and then transmitted to the mobile communication device 30 and are essentially available there to the mobile communication device 30 at the point in time tb n .
  • All additional position information can be stored in the data memory 31 together with the times assigned to them.
  • the position information determined by the GPS receiver 34 or WLAN-based at the times ta n + 1 , ta n + 2 and ta n + 3 and the movement data determined by the motion sensor 33 that occur between the times ta n and tb n have been recorded, are stored in the data memory 31.
  • the microprocessor 38 is designed to execute a program stored in the program memory 32 in order to obtain the position information associated with the times ta n + 1 , ta n + 2 and ta n + 3 by means of the respective additional position information which corresponds to the times ta n + 1 , ta n +2 and ta n + 3 are assigned to correct.
  • the position information assigned to the first point in time ta n is dependent on the corrected position information assigned to the points in time ta n + 1 , ta n + 2 and ta n + 3 , by the additional position information assigned to the point in time ta n and by the movement data and Movement models, if any, redefined to improve current at time tb n and valid for time tb n .
  • the position information intermediate values that are only provided by the GPS receiver 34 or determined based on WLAN can also be used subsequently or at the same time as in the previously described method, the position information now being able to be improved in advance by the interpolation or extrapolation values of the additional position information.
  • the position information provided in step d) is preferably position information which can be corrected with the aid of additional position information which has the same validity time as the respective position information.
  • the wording that the additional position information and the position information are assigned to a first point in time ta n preferably means that the additional position information and the position information are valid at the same first point in time ta n .
  • the position of supplementary information preferably contain to a certain first times ta n associated correction data and optionally the accuracy and optionally integrity information via the communication system 10, 11 or 12, which can be used in particular for improved position determination.
  • first movable communication device can be identical to the second movable communication device.
  • first movable communication device and the second movable communication device can also denote different communication devices, including differently constructed communication devices.
  • Groups of movable communication devices can also be provided, one of which serves to determine position-related information and transmit it to the evaluation device 20 and another group uses the additional position information provided by the evaluation device 20 for improved position determination, the groups being able to be disjoint or can overlap completely or partially.
  • the position-related information provided in step a) is, in particular, information which can be determined as a function of a signal which can be received by the first movable communication device.
  • This can be a signal property such as a signal strength, information contained in the signal or information that can be derived or calculated from information contained in the signal.
  • the position-related information can in particular also include a position determined for the first movable communication device and possibly an assigned accuracy of the determined position.
  • the position-related information can also be measurement data, depending on which the evaluation device determines a position of the first movable communication device and possibly an assigned accuracy.
  • position-related information can, for example, also be known position information in advance, for example the position of a fixed transmission device designed for near-field communication, which is stored in the first movable communication device.
  • the provision of position-related information in step a) advantageously includes the first movable communication device receiving signals that can be used to determine the position of the first movable communication device, these being, in particular, signals from a position determining system, that is to say, for example, signals received or received by a GPS satellite Signal strength of an access point of a WLAN-based positioning system.
  • the provision of position-related information in step a) can advantageously receive Include signals from a further first movable communication device, wherein the first movable communication device can determine a distance to the further first movable communication device from the received signals.
  • the provision of position-related information in step a) can further advantageously include determining position information by the first movable communication device, and optionally an accuracy assigned to the position information, in particular depending on the received signals of a position determination system.
  • step a) comprises transmitting a signal from a short-range transmission device to the first movable communication device, in particular by means of near field communication, position information assigned to the transmission device being provided in the first movable communication device the position information assigned to the transmission device can be transmitted in particular in the signal of the transmission device.
  • the method further advantageously comprises providing, in the first movable communication device, of movement-related information, the movement-related information relating to the movement of the first movable communication device, at least in sections, after the time of receipt of a Describe signals from the short-range transmitter, and in particular up to the first point in time (ta n ).
  • the degrees of freedom of the movement of the first movable communication device are limited in a predetermined manner, the limited degrees of freedom being taken into account when determining additional position information.
  • the evaluation device 20 particularly advantageously carries out a compensation calculation in step c), in particular as a function of position-related information which the evaluation device 20 has received from a large number of first movable communication devices 30. It is particularly advantageous to use a number of first movable communication devices 30 such that they mutually control each other sufficiently geometrically, directly or indirectly.
  • a smoothing calculation is a mathematical optimization method to estimate unknown parameters for a series of measurement data, whereby there is typically an overdetermination which allows the best possible adaptation to a model or a function, for example using the least squares method .
  • the evaluation device in the second movable communication device Received additional position information associated with the first point in time ta n from the second movable communication device for determining the position of the second movable communication device at a second point in time tb n that is later than the first point in time , valid for the position at point in time tb n, only if the additional position information as is recognized or assumed to be sufficiently constant in the period between the first point in time ta n and the second point in time tb n .
  • the index "n” can define a number greater than or equal to 1, which denotes an nth first time and an nth second time. In this sense, the index "n” indicates that a first point in time ta n and an associated second point in time tb n define the time limits of an nth processing or calculation interval.
  • a movable communication device 30 is provided for providing position-related information which can be used by an evaluation device to determine additional position information.
  • the mobile communication device 30 comprises a receiving means 34 or 37 which is adapted to receive position signals from a component 40 or 50 of a navigation system to determine position information ta the position of the mobile communications device 30 for a first time n define, wherein the movable communication device 30 is further configured to provide at least one position-related information and to transmit it to an evaluation device 20, the position-related information in particular comprising information contained in received position signals and / or determined position information.
  • the movable communication device 30 advantageously comprises a movement detection device 33 for providing movement-related information, which at least the movement of the movable communication device 30 describe in sections between a first point in time ta n and a second point in time tb n , the position-related information comprising the movement-related information.
  • Movement-related information can contain, for example, continuously or incompletely provided movement information and / or data of a movement model for describing plausible movements and / or movement changes.
  • movement-related information can contain not only the movement data that is incomplete, but also the data supplied by a movement model that contains the gaps and / or can be calculated in the evaluation process.
  • a simple motion model could provide that the last speed vector during a gap, i.e. is retained in the absence of movement data. For example, more complicated motion models use extrapolations of speeds. Suitable motion models can also be implemented using a Kalman filter.
  • Motion-related information preferably describes a translatory movement of the movable communication device 30.
  • the movable communication device 30 is designed to determine a distance information relating to the distance between the movable communication device 30 and at least one further movable communication device 30, the position-related information comprising the distance information.
  • the movable communication device 30 is designed to receive additional position information provided by the evaluation device 20, which is associated with a first point in time ta n , the first point in time ta n being before the second point in time tb n , the movable communication device 30 comprises a control device 38 which is adapted to a position information for the first time ta n as a function of the first time point ta n associated position information and redefine the first point in time ta n position associated additional information and which is formed in particular also to determine an improved current position information for the second time tb n as a function of the position information redetermined for the first time t n and the movement-related information provided by the movement detection device 33.
  • An evaluation device 20 for determining and providing additional position information is also provided, which is designed to receive position-related information from at least one first movable communication device 30, to determine additional position information as a function of the received position-related information.
  • the a first time ta is assigned to n, and to transmit the position of additional information to a second mobile communications device 30, the position of additional information ta particular the first time n associated correction data for improved position determination and / or the first timing associated integrity information comprises.
  • the evaluation device 20 is particularly advantageously designed to carry out the determination of the additional position information by executing a compensation calculation, in particular as a function of position-related information which the evaluation device 20 has received from a plurality of movable communication devices 30.
  • the additional position information is not obtained by means of static communication devices at positions which have been measured and known beforehand with high precision, as is customary in the prior art for example at GNSS SBAS. Used over a longer period, i.e. If the above-described method steps a) to c) are carried out repeatedly, the method can initially start without the presence of correction values and can improve the quality of correction values over time without having to carry out special measurements and without having to have special measurement structures to be monitored. The entire system can thus calibrate itself.

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Claims (10)

  1. Procédé destiné à améliorer la détermination de la position d'un dispositif de communication mobile, avec les étapes de procédé suivantes consistant à :
    a) mettre à disposition une information relative à une position dans une pluralité de premiers dispositifs de communication (30) mobiles, où les premiers dispositifs de communication mobiles présentent respectivement un dispositif de réception (34, 37) qui est conçu pour recevoir des signaux de position depuis un composant (40, 50) d'un système de navigation,
    b) transmettre l'information relative à une position depuis la pluralité de premiers dispositifs de communication mobiles vers un dispositif d'exploitation (20),
    c) déterminer des informations supplémentaires de position sous la forme d'informations d'intégrité et/ou de données de correction qui sont attribuées à un premier instant, par le dispositif d'exploitation en fonction de l'information relative à une position reçue, où le dispositif d'exploitation effectue un calcul d'ajustement en fonction d'informations relatives à une position que le dispositif d'exploitation a reçues de la pluralité de premiers dispositifs de communication mobiles,
    d) mettre à disposition une information de position attribuée au premier instant dans un second dispositif de communication (30) mobile, où les premiers dispositifs de communication mobiles et le second dispositif de communication mobile sont des dispositifs différents,
    e) transmettre les informations supplémentaires de position attribuées au premier instant depuis le dispositif d'exploitation vers le second dispositif de communication mobile,
    f) déterminer dans le second dispositif de communication mobile l'intégrité de l'information de position mise à disposition à l'étape d) pour le premier instant en fonction de l'information supplémentaire de position et/ou déterminer à nouveau dans le second dispositif de communication (30) mobile une information de position pour le premier instant (tan) en fonction de l'information de position mise à disposition à l'étape d) et attribuée au premier instant (tan) et de l'information supplémentaire de position attribuée au premier instant (tan) .
  2. Procédé selon la revendication 1, dans lequel l'étape a) comprend le fait de réceptionner des signaux pouvant être employés pour déterminer la position du premier dispositif de communication mobile par le premier dispositif de communication mobile.
  3. Procédé selon l'une des revendications 1 et 2, dans lequel l'étape a) comprend le fait de réceptionner des signaux depuis un autre premier dispositif de communication mobile, dans lequel le premier dispositif de communication mobile peut établir à partir des signaux reçus une distance par rapport à l'autre premier dispositif de communication mobile.
  4. Procédé selon l'une des revendications précédentes, dans lequel l'étape a) comprend le fait de déterminer une information de position par le premier dispositif de communication mobile, ainsi que le cas échéant une exactitude attribuée à l'information de position.
  5. Procédé selon l'une des revendications précédentes, dans lequel l'étape a) comprend le fait de transmettre un signal depuis un dispositif d'émission à courte portée vers le premier dispositif de communication mobile, en particulier au moyen d'une communication en champ proche, et dans lequel, dans le premier dispositif de communication mobile, une information de position attribuée au dispositif d'émission est mise à disposition.
  6. Procédé selon la revendication 5, comprenant le fait de mettre à disposition, dans le premier dispositif de communication mobile, des informations relatives à un déplacement, où les informations relatives à un déplacement décrivent le déplacement du premier dispositif de communication mobile au moins par sections après l'instant de réception d'un signal depuis le dispositif d'émission à courte portée, et en particulier jusqu'au premier instant (tan) .
  7. Procédé selon l'une des revendications précédentes, dans lequel les degrés de liberté du déplacement du premier dispositif de communication mobile sont restreints de façon prédéterminée, et dans lequel les degrés de liberté restreints sont pris en compte lors de la détermination d'informations supplémentaires de position.
  8. Procédé selon l'une des revendications précédentes, dans lequel l'information supplémentaire de position reçue dans le second dispositif de communication mobile par le dispositif d'exploitation et attribuée au premier instant (tan) est utilisée, par le second dispositif de communication mobile, pour déterminer la position du second dispositif de communication mobile à un second instant (tbn) ultérieur au premier instant et valable pour la position à l'instant (tbn), uniquement lorsque l'information supplémentaire de position a été perçue ou admise comme étant suffisamment constante dans la période entre le premier instant (tan) et le second instant (tbn).
  9. Procédé selon l'une des revendications précédentes, comprenant le fait de
    - mettre à disposition, dans le second dispositif de communication mobile, des informations relatives à un déplacement, où les informations relatives à un déplacement décrivent le déplacement du second dispositif de communication mobile au moins par sections entre le premier instant (tan) et un second instant (tbn), où le premier instant (tan) se situe avant le second instant (tbn), et
    - déterminer dans le second dispositif de communication (30) mobile une information de position actuelle améliorée du second dispositif de communication (30) mobile pour le second instant (tbn) en fonction de l'information de position à nouveau déterminée pour le premier instant (tan) et des informations relatives à un déplacement mises à disposition.
  10. Dispositif d'exploitation (20) destiné à déterminer et mettre à disposition des informations supplémentaires de position, conçu pour recevoir des informations relatives à une position depuis une pluralité de premiers dispositifs de communication (30) mobiles, pour déterminer en fonction des informations relatives à une position reçues une information supplémentaire de position qui est attribuée à un premier instant (tan), et pour transmettre l'information supplémentaire de position vers un second dispositif de communication (30) mobile, où les premiers dispositifs de communication mobiles et le second dispositif de communication mobile sont des dispositifs différents, où l'information supplémentaire de position comprend des données de correction attribuées au premier instant (tan) en vue d'une détermination de position améliorée et/ou des informations d'intégrité attribuées au premier instant, et où le dispositif d'exploitation (20) est conçu pour effectuer la détermination de l'information supplémentaire de position en exécutant un calcul d'ajustement en fonction d'informations relatives à une position que le dispositif d'exploitation (20) a reçues de la pluralité de premiers dispositifs de communication (30) mobiles.
EP15184942.9A 2015-09-11 2015-09-11 Dispositif et procede de positionnement ameliore Active EP3141922B1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
EP15184942.9A EP3141922B1 (fr) 2015-09-11 2015-09-11 Dispositif et procede de positionnement ameliore
ES15184942T ES2811900T3 (es) 2015-09-11 2015-09-11 Método y dispositivo para mejorar la determinación de la posición

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP15184942.9A EP3141922B1 (fr) 2015-09-11 2015-09-11 Dispositif et procede de positionnement ameliore

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EP3141922B1 true EP3141922B1 (fr) 2020-05-27

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Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8892127B2 (en) * 2008-11-21 2014-11-18 Qualcomm Incorporated Wireless-based positioning adjustments using a motion sensor
US8634849B2 (en) * 2011-01-19 2014-01-21 Qualcomm Incorporated Methods and apparatus for mobile device based location determination in a communications system
DE102013104727A1 (de) * 2013-05-07 2014-11-13 Deutsche Telekom Ag Verfahren und Vorrichtungen zum Bestimmen der Position einer beweglichen Kommunikationseinrichtung
EP2921880B1 (fr) * 2014-03-19 2019-05-08 Deutsche Telekom AG Procédé et dispositif de communication mobile pour la détermination améliorée de la position actuelle en temps réel

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* Cited by examiner, † Cited by third party
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ES2811900T3 (es) 2021-03-15

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